CN209350242U - A kind of artificial teaching system of spraying based on binocular vision - Google Patents
A kind of artificial teaching system of spraying based on binocular vision Download PDFInfo
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- CN209350242U CN209350242U CN201822096409.4U CN201822096409U CN209350242U CN 209350242 U CN209350242 U CN 209350242U CN 201822096409 U CN201822096409 U CN 201822096409U CN 209350242 U CN209350242 U CN 209350242U
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- camera
- chromosphere
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- spray gun
- binocular vision
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Abstract
The utility model discloses a kind of artificial teaching systems of the spraying based on binocular vision, comprising: teaching spray gun, camera support, industrial camera, chromosphere and camera holder；There are two the camera supports, and equal in magnitude, parallel to each other；Camera holder is respectively set in the upper end of two camera supports；Industrial camera is set on two camera holders；In the front end of two camera supports, teaching spray gun is set；In the upper end of the teaching spray gun, chromosphere is set.Present apparatus structure is simple, and design rationally, indicates the posture of teaching spray gun by the rotation of chromosphere, to record the motion profile of teaching spray gun teaching, driving manipulator completes reproduction teaching track.
Description
Technical field
The utility model relates to spraying industry technical fields, manually show more particularly, to a kind of spraying based on binocular vision
Teaching system.
Background technique
The prior art it is a kind of with hemisphere job area telescopic spraying teaching mechanism (application number:
201620587905.8), have the characteristics that lightweight, the spraying teaching mechanism packet big, at low cost without operative interventions, job area
Pedestal, shaft plate, attachment device, telescopic device, teaching Wrist mechanism, spray gun device are included, shaft plate and pedestal are turned by pedestal
Axis rotation connection, attachment device and shaft plate are rotatablely connected by rotation axis, and base shaft is that right-angled intersection is combined with rotation axis；
Telescopic device is fixedly connected with attachment device, and teaching Wrist mechanism is fixedly connected with telescopic device, spray gun device and teaching wrist
Mechanism is fixedly connected.But during practice, since the teaching device is mechanical linkage structure, for teaching personnel
Still not light enough, and teaching can only be carried out in hemi-sphere range, for the scene for needing a wide range of teaching, the teaching
Device is unable to meet demand.
Utility model content
The purpose of this utility model is to provide a kind of artificial teaching systems of the spraying based on binocular vision.
To achieve the above object, the utility model uses the following contents:
The artificial teaching system of a kind of spraying based on binocular vision, comprising: teaching spray gun, camera support, industrial camera, color
Ball and camera holder；There are two the camera supports, and equal in magnitude, parallel to each other；Distinguish in the upper end of two camera supports
Camera holder is set；Industrial camera is set on two camera holders；In the front end of two camera supports, teaching spray gun is set；?
Chromosphere is arranged in the upper end of the teaching spray gun.
Preferably, the height of the two industrial camera installations is consistent.
Preferably, the chromosphere is assembled into three-dimensional cartesian coordinate, and a chromosphere, coordinate are installed in each reference axis
One chromosphere is installed on origin；There are four the chromospheres, and the color of each chromosphere is different.
Preferably, the posture of the teaching spray gun is indicated by the rotation of chromosphere, and the rotation angle of chromosphere passes through
Vector is calculated.
Preferably, the upper end of the camera support turns forward.
Preferably, card slot is set in the upper end of the camera holder, and the size of card slot is opposite with the size of industrial camera
It answers.
Preferably, it is respectively arranged with support around the bottom end of the camera support, leads between support and camera support
Cross screw connection, the rectangular triangle in the cross section of support.
The utility model has the advantage that
1, the utility model structure is simple, and design reasonable employment is convenient, and more flexible, volume is lighter with operating
Just, the bigger feature of motion range.
2, the utility model captures chromosphere by binocular vision, teaching spray gun path and its posture can be quickly generated, by labor
Dynamic person frees from severe painting environments, meets people-oriented and machine substitute human labor theory, can also make up current multiaxis
Manipulator is not suitable for the defect of the frequent spraying workpiece of replacement complicated and changeable.
Detailed description of the invention
Specific embodiment of the present utility model is described in further detail with reference to the accompanying drawing.
Fig. 1 is a kind of artificial teaching system structural schematic diagram of spraying based on binocular vision of the utility model.
Fig. 2 is three-dimensional cartesian coordinate chromosphere figure.
In figure, each appended drawing reference are as follows:
1- teaching spray gun, 2- camera support, 3- industrial camera, 4- chromosphere, 5- camera holder, 6- sliding slot, 7- support.
Specific embodiment
In order to illustrate more clearly of the utility model, the utility model is done further below with reference to preferred embodiment
It is bright.It will be appreciated by those skilled in the art that specifically described content is illustrative and be not restrictive below, it should not be with this
Limit the protection scope of the utility model.
As illustrated in fig. 1 and 2, a kind of artificial teaching system of spraying based on binocular vision includes: teaching spray gun 1, camera branch
Frame 2, industrial camera 3, chromosphere 4 and camera holder 5；There are two the camera supports 2, and equal in magnitude, parallel to each other；Described in two
Camera holder 3 is respectively set in the upper end of camera support 2, and is connected through a screw thread between camera holder 3 and camera support 2；Described in two
Industrial camera 3 is set on camera holder 5；In the front end of two camera supports 2, teaching spray gun 1 is set；In the teaching spray gun 1
Chromosphere 4 is arranged in upper end.
The chromosphere 4 is assembled into three-dimensional cartesian coordinate, and a chromosphere 4 is installed in each reference axis, in coordinate origin
One chromosphere 4 is installed；There are four the chromospheres 4, and the color of each chromosphere is different；The posture of the teaching spray gun 1 by
The rotation of chromosphere 4 indicates, and the rotation angle of chromosphere 4 calculated by vector.
The upper end of the camera support 2 turns forward, and the angle to lean forward is adjusted by multi-directional ball, is to guarantee color
Ball 4 is not obscured by an object.
Card slot 6 is set in the upper end of the camera holder 5, and the size of card slot 6 is corresponding with the size of industrial camera 3, just
In placement industrial camera 3.
It is respectively arranged with support 7 around the bottom end of the camera support 2, passes through screw between support 7 and camera support 2
Connection, the rectangular triangle in the cross section of support 7 are convenient for firm camera support 2 by setting support 7, prevent its inclination.
Two installations in parallel of industrial camera 3, and the height of two industrial cameras 3 installation is consistent.
During the work time, the chromosphere of different colours 4 is assembled into the form of three-dimensional cartesian coordinate, is installed on teaching spray
The top of rifle 1；Industrial camera 3 is mounted on camera holder 2, and two industrial cameras 3 are parallel to each other, and at a distance；Teaching
Spray gun 1 carries out teaching spraying in teaching region, and industrial camera 3 captures the sky of 1 top chromosphere 4 of teaching spray gun by vision system
Between position, determine spatial position and the posture of teaching spray gun 1.With the continuous movement of teaching spray gun 1, industrial camera 3 is constantly adopted
Collect training data, form teaching track after being passed to computer, completes teaching work.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention, for those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways, all embodiments can not be exhaustive here,
It is all to belong to obvious changes or variations that the technical solution of the utility model is extended out still in the utility model
The column of protection scope.
Claims (7)
1. a kind of artificial teaching system of spraying based on binocular vision characterized by comprising teaching spray gun, camera support, work
Industry camera, chromosphere and camera holder；There are two the camera supports, and equal in magnitude, parallel to each other；In two camera supports
Camera holder is respectively set in upper end；Industrial camera is set on two camera holders；In the front end of two camera supports, setting is shown
Teach spray gun；In the upper end of the teaching spray gun, chromosphere is set.
2. the artificial teaching system of a kind of spraying based on binocular vision according to claim 1, which is characterized in that described in two
The height of industrial camera installation is consistent.
3. the artificial teaching system of a kind of spraying based on binocular vision according to claim 1, which is characterized in that the color
Ball is assembled into three-dimensional cartesian coordinate, and a chromosphere is installed in each reference axis, and a chromosphere is installed in coordinate origin；It is described
There are four chromospheres, and the color of each chromosphere is different.
4. the artificial teaching system of a kind of spraying based on binocular vision according to claim 1, which is characterized in that described to show
The posture of religion spray gun is indicated by the rotation of chromosphere, and the rotation angle of chromosphere is calculated by vector.
5. the artificial teaching system of a kind of spraying based on binocular vision according to claim 1, which is characterized in that the phase
The upper end of machine support turns forward.
6. the artificial teaching system of a kind of spraying based on binocular vision according to claim 1, which is characterized in that described
Card slot is arranged in the upper end of camera holder, and the size of card slot is corresponding with the size of industrial camera.
7. the artificial teaching system of a kind of spraying based on binocular vision according to claim 1, which is characterized in that described
It is respectively arranged with support around the bottom end of camera support, is connected by screw between support and camera support, the cross section of support
Rectangular triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822096409.4U CN209350242U (en) | 2018-12-13 | 2018-12-13 | A kind of artificial teaching system of spraying based on binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822096409.4U CN209350242U (en) | 2018-12-13 | 2018-12-13 | A kind of artificial teaching system of spraying based on binocular vision |
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| CN209350242U true CN209350242U (en) | 2019-09-06 |
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| CN201822096409.4U Active CN209350242U (en) | 2018-12-13 | 2018-12-13 | A kind of artificial teaching system of spraying based on binocular vision |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977946A (en) * | 2019-12-12 | 2020-04-10 | 常州工学院 | Terminal coordinate ball for robot teaching |
| CN111421521A (en) * | 2020-01-07 | 2020-07-17 | 成都卡诺普自动化控制技术有限公司 | Robot teaching method based on vision |
| CN111871673A (en) * | 2020-04-27 | 2020-11-03 | 杭州国辰机器人科技有限公司 | Intelligent paint room based on teaching technology |
| CN111905951A (en) * | 2020-04-28 | 2020-11-10 | 杭州国辰机器人科技有限公司 | Intelligent powder room based on teaching technology |
| CN111975200A (en) * | 2020-06-08 | 2020-11-24 | 杭州国辰机器人科技有限公司 | Intelligent welding method and intelligent welding system based on visual teaching technology |
| CN112091971A (en) * | 2020-08-21 | 2020-12-18 | 季华实验室 | Robot eye calibration method and device, electronic equipment and system |
| WO2023221754A1 (en) * | 2022-05-20 | 2023-11-23 | 埃夫特智能装备股份有限公司 | Spray gun based on position sensing technology and robot convenient programming apparatus thereof |
-
2018
- 2018-12-13 CN CN201822096409.4U patent/CN209350242U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977946A (en) * | 2019-12-12 | 2020-04-10 | 常州工学院 | Terminal coordinate ball for robot teaching |
| CN111421521A (en) * | 2020-01-07 | 2020-07-17 | 成都卡诺普自动化控制技术有限公司 | Robot teaching method based on vision |
| CN111871673A (en) * | 2020-04-27 | 2020-11-03 | 杭州国辰机器人科技有限公司 | Intelligent paint room based on teaching technology |
| CN111905951A (en) * | 2020-04-28 | 2020-11-10 | 杭州国辰机器人科技有限公司 | Intelligent powder room based on teaching technology |
| CN111975200A (en) * | 2020-06-08 | 2020-11-24 | 杭州国辰机器人科技有限公司 | Intelligent welding method and intelligent welding system based on visual teaching technology |
| CN112091971A (en) * | 2020-08-21 | 2020-12-18 | 季华实验室 | Robot eye calibration method and device, electronic equipment and system |
| CN112091971B (en) * | 2020-08-21 | 2021-10-12 | 季华实验室 | Robot eye calibration method and device, electronic equipment and system |
| WO2023221754A1 (en) * | 2022-05-20 | 2023-11-23 | 埃夫特智能装备股份有限公司 | Spray gun based on position sensing technology and robot convenient programming apparatus thereof |
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